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Conference Paper
IMM Based Navigation Algorithm Using Fixed Gain Filters and Post-Processing Results
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- Authors
- Byung Doo Kim, Seong Yun Cho, Young Su Cho, Wan Sik Choi
- Issue Date
- 2006-10
- Citation
- ITS World Congress 2006, pp.1-8
- Language
- English
- Type
- Conference Paper
- Abstract
- Global Positioning System has been widely used in land vehicle navigation applications. Recently, an interacting multiple model estimator has been introduced to improve the GPS positioning performance in various dynamic conditions of a land vehicle. In this paper, an efficient position domain GPS navigation filter based on IMM estimator which consists of three fixed gain filters for real-time implementation is presented. In this filter, the states are estimated by a weighted sum of the estimates of three fixed gain filters matched to different three dynamic modes of a land vehicle e.g., stationary, constant velocity, and constant acceleration. The post-processing results show that the proposed IMM based GPS navigation filter provides an improved positioning solution with accuracy in comparison with the iterative least square method.
- KSP Keywords
- Constant velocity, Dynamic condition, GPS navigation, GPS positioning, IMM estimator, Interacting Multiple Model Estimator, Interacting multiple model(IMM), Land vehicle, Least Squares(LS), Least-square method, Navigation Application